Systems and methods for modular intraluminal device power transfer

ABSTRACT

Systems and methods are described for providing power transfer between modular intraluminal devices. A system embodiment includes, but is not limited to, a first intraluminal device and a second intraluminal device; the first intraluminal device including a body structure, a sensor, a processor, a data transmitter, and a wireless energy receiver oriented to wirelessly receive energy originating external to the first intraluminal device to power at least one of the sensor, the processor, or the data transmitter; the second intraluminal device including a second body structure, and an energy storage device configured to wirelessly transfer energy stored in the energy storage device to the wireless energy receiver of the first intraluminal device when the first intraluminal device and the second intraluminal device are positioned within a subject.

If an Application Data Sheet (ADS) has been filed on the filing date ofthis application, it is incorporated by reference herein. Anyapplications claimed on the ADS for priority under 35 U.S.C. §§119, 120,121, or 365(c), and any and all parent, grandparent, great-grandparent,etc. applications of such applications, are also incorporated byreference, including any priority claims made in those applications andany material incorporated by reference, to the extent such subjectmatter is not inconsistent herewith.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of the earliest availableeffective filing date(s) from the following listed application(s) (the“Priority Applications”), if any, listed below (e.g., claims earliestavailable priority dates for other than provisional patent applicationsor claims benefits under 35 USC §119(e) for provisional patentapplications, for any and all parent, grandparent, great-grandparent,etc. applications of the Priority Application(s)).

PRIORITY APPLICATIONS

None.

If the listings of applications provided above are inconsistent with thelistings provided via an ADS, it is the intent of the Applicant to claimpriority to each application that appears in the DomesticBenefit/National Stage Information section of the ADS and to eachapplication that appears in the Priority Applications section of thisapplication.

All subject matter of the Priority Applications and of any and allapplications related to the Priority Applications by priority claims(directly or indirectly), including any priority claims made and subjectmatter incorporated by reference therein as of the filing date of theinstant application, is incorporated herein by reference to the extentsuch subject matter is not inconsistent herewith.

SUMMARY

In an aspect, a system includes, but is not limited to, a firstintraluminal device and a second intraluminal device; the firstintraluminal device including a body structure dimensioned andstructured to travel through a biological lumen of a subject; a sensorcoupled to the body structure, the sensor oriented to detect at leastone characteristic of the biological lumen and to generate one or moresense signals; a processor operably coupled to the sensor, the processorconfigured to receive the one or more sense signals; a data transmittercoupled to the body structure and configured to wirelessly transmit oneor more data signals associated with the one or more sense signalsresponsive to instruction by the processor; and a wireless energyreceiver coupled to the body structure and oriented to wirelesslyreceive energy originating external to the first intraluminal device topower at least one of the sensor, the processor, or the datatransmitter; the second intraluminal device including a second bodystructure dimensioned and structured to travel through the biologicallumen of the subject; and an energy storage device coupled to the secondbody structure, the energy storage device configured to wirelesslytransfer energy stored in the energy storage device to the wirelessenergy receiver of the first intraluminal device when the firstintraluminal device and the second intraluminal device are positionedwithin the subject.

In an aspect, a method for intraluminal analysis includes, but is notlimited to, introducing a first intraluminal device into a biologicallumen of a subject, the first intraluminal device including a wirelessenergy receiver to wirelessly receive energy originating external to thefirst intraluminal device to power at least one component of the firstintraluminal device; and introducing a second intraluminal device intothe biological lumen of the subject, the second intraluminal deviceincluding an energy storage device configured to wirelessly transferenergy stored in the energy storage device to the wireless energyreceiver of the first intraluminal device when the first intraluminaldevice and the second intraluminal device are positioned within thesubject.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic of a system for modular intraluminal device powertransfer.

FIG. 2 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 3A is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 3B is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 3C is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 3D is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 4 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 5 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 6A is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 6B is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 6C is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 6D is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 6E is a schematic of an embodiment of a system such as shown inFIG. 1.

FIG. 7 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 8 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 9 is a schematic of an embodiment of a system such as shown in FIG.1.

FIG. 10 is a flowchart of a method for intraluminal analysis inaccordance with an example embodiment.

FIG. 11 is a schematic of a system for modular intraluminal device powertransfer.

FIG. 12 is a schematic of an embodiment of a system such as shown inFIG. 11.

FIG. 13 is a schematic of an embodiment of a system such as shown inFIG. 11.

FIG. 14 is a flowchart of a method for intraluminal analysis inaccordance with an example embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Systems and methods are described for providing power transfer betweenmodular intraluminal devices when placed within an individual subject,such as within one or more biological lumens. The biological lumens canbe associated with any biological lumen network of an individualsubject, such as a lumen associated with at least one of agastrointestinal system, a respiratory system, a cardiovascular system,a nervous system, a urinary system, a reproductive system, a lymphaticsystem, a biliary system, a glandular system, an auditory system, avisual system, or a nasal system. For instance, medical personnel canemploy endoscopy techniques to monitor gastrointestinal health, whichmay lead to the detection of diseases. Endoscopy allows medicalpersonnel to view the tissue comprising the gastrointestinal tract andto more easily identify problems that may otherwise require extensivetesting or go undetected. Wired endoscope devices can be utilized forsuch diagnostics, however such devices often cannot feasibly reach ormonitor the small intestine. This leaves medical personnel to speculateabout the health of a patient's overall gastrointestinal tract. In someinstances, discomfort or pain may be experienced by patients as a wiredendoscope is moved through the body, which can cause intestinalperforation. Wireless capsule endoscopy can be utilized to view theentire gastrointestinal tract, while minimizing pain associated withwired endoscopes. Wireless capsule endoscopy uses a capsule that may besmall enough for a patient to ingest and may be powered by local powersupplies (e.g., batteries). However, the power supplied from local powersupplies may not last long enough for medical personnel to view theentire gastrointestinal tract or to provide other diagnostic ortreatment procedures. Also the motion of a capsule endoscope may bedictated by the movement of the gastrointestinal tract, limiting thefeasible diagnostic or treatment functionalities. Further, externalpowering techniques for such wireless capsule endoscopes face challengesassociated with transit times, significant distances between powertransmitting and receiving coils, unpredictable wireless capsuleorientation and motion, and complexity and size requirements associatedwith receiving coils on the capsule.

The systems and methods described herein can facilitate power transferbetween modular intraluminal devices located within a body of anindividual subject, wherein the intraluminal devices can providediagnostic, analytic, and treatment functionalities within a biologicallumen, such as to facilitate medical diagnosis of the individual subjectby a medical professional or to facilitate treatment of the individualsubject by drug delivery, surgical applications, or so forth. In anembodiment, power transfer between modular intraluminal devices isfacilitated via control of the movements of one or more of theintraluminal devices, such as to bring one intraluminal device closer toanother intraluminal device, to increase or decrease a distance betweenthe intraluminal devices, to control an orientation of one of theintraluminal devices relative to another intraluminal device, or soforth, which can bring the intraluminal devices into and out of positionto transfer power from one intraluminal device to another intraluminaldevice. For example, locomotion of a second intraluminal deviceintroduced to the biological lumen subsequent to introduction of a firstintraluminal device can be controlled to bring the second intraluminaldevice closer to the first intraluminal device, or to adjust anorientation of the second intraluminal device relative to the firstintraluminal device. Further, the locomotion of one of the intraluminaldevices can be arrested to increase or decrease a distance betweenintraluminal devices, or to change an orientation of one of theintraluminal devices relative to another intraluminal device, such as byallowing biological conditions (e.g., fluid flow, muscular movement,etc.) or controlled locomotion to influence the non-arrestedintraluminal device. The systems can control activation of the powertransfer based on proper positioning of the intraluminal devicesrelative to one another, through identification of the intraluminaldevices, through external control, through identification of one or moreenvironmental conditions within the individual subject, or through otheractivation protocols.

In an embodiment, intraluminal devices include one or more propellingstructures, locomotive structures, steering structures, ormotion-resistive mechanisms to influence the propulsion, positioning, ororientation of the intraluminal devices to influence power transfer fromone intraluminal device to another intraluminal device.

In an embodiment, the systems and methods described herein employ afirst intraluminal device including a sensor oriented to detect at leastone characteristic of the biological lumen and to generate sensesignals. The sensor can include, but is not limited to, an opticaldevice, a physiological sensor, a pH sensor, a pressure sensor, atemperature sensor, a chemical sensor, or a biosensor.

In an embodiment, the systems and methods described herein employ afirst intraluminal device including a wireless energy receiver. Thefirst intraluminal device is operably coupled with a second intraluminaldevice including an energy storage device to wirelessly transfer energystored in the energy storage device to the wireless energy receiverwhile the first intraluminal device and the second intraluminal deviceare positioned within the individual subject. The power transfer cansustain activities and functionality of the first intraluminal devicewhile present in the individual subject. The wireless power transfer canoccur via one or more energy transfer protocols including, but notlimited to, electromagnetic coupling, microwave coupling, infraredcoupling, optical coupling, or acoustic coupling. In an embodiment, thesystems and devices described herein can initiate transfer of the powerbased on an actuator responsive to a timer output, a sensor output(e.g., indicative of a condition within the biological lumen), a powerstate of the first intraluminal device, or an external communication.

In an embodiment, shown in FIG. 1, a system (or device) 100 isconfigured to provide wireless power or energy transfer between modularintraluminal devices when the intraluminal devices are positioned withinone or more biological lumens of an individual subject (e.g., a humansubject, an animal subject). The system 100 includes a firstintraluminal device 102 and a second intraluminal device 104, each ofwhich is configured for deployment within one or more biological lumenswithin the individual subject, such as a lumen of the gastrointestinaltract shown in FIG. 1. While FIG. 1 shows the first intraluminal device102 and the second intraluminal device 104 within the lumen of thegastrointestinal tract, the system 100 can operate within biologicallumens associated with any biological lumen network of an individualsubject, such as a lumen associated with at least one of agastrointestinal system, a respiratory system, a cardiovascular system,a nervous system, a urinary system, a reproductive system, a lymphaticsystem, a biliary system, a glandular system, an auditory system, avisual system, or a nasal system. For example, embodiments of thesystems or devices described herein may be configured for use in (e.g.,configured to fit within) a body lumen of an organism including, forexample, the respiratory tract, the cardiovascular system (e.g., a bloodvessel), a portion of a CSF-space (cerebro-spinal fluid space) of thenervous system (e.g., the spinal canal, the ventricles of the brain, thesub-arachnoid space, etc.), a portion of the urinary tract (for examplea ureter), a portion of the lymphatic system, a portion of the abdominalcavity, a portion of the thoracic cavity, a portion of the digestivetract, a portion of a reproductive tract, either the female reproductivetract (e.g., a lumen of a fallopian tube) or the male reproductive tract(including various lumens including but not limited to the epididymis,vas deferens or ductul deferens, efferent duct, ampulla, seminal duct,ejaculatory duct, or urethra), the biliary tract, a nostril or nasalcavity, the oral cavity, the digestive tract, the tear ducts, or aglandular system. Other body lumens may be found in the auditory orvisual system, or in interconnections thereof e.g., the Eustachiantubes. Some of the systems and devices described herein may be used in abody lumen through which fluid flows, but it is not intended that suchdevices or systems are limited to use in tubular lumen-containingstructures containing moving fluid; in some applications an intraluminaldevice may be used in a body lumen containing relatively unmoving, orintermittently moving fluid.

The first intraluminal device 102 includes a body structure 106, asensor 108, a processor 110, a data transmitter 112, and a wirelessenergy receiver 114. The first intraluminal device 102 is generallyconfigured for diagnostic and treatment functionalities within thebiological lumen, where the body structure 106 facilitates lumen travelby being dimensioned and structured to travel through the biologicallumen. For example, the body structure 106 can adopt a capsule/structureor a pill shape/structure, or another shape or structure, to facilitatetravel through the biological lumen. In an embodiment, the bodystructure 106 includes a hermetic seal to protect one or more componentsof the first intraluminal device 102 from the environment within theindividual subject. In an embodiment, at least a portion of the firstintraluminal device 102 comprises one or more of a biocompatiblematerial, a biodegradable material, or a bioresorbable or bioabsorbablematerial (e.g., a natural or synthetic biodegradable or bioresorbablepolymer, a bioresorbable ceramic or metal, silk, or paper). For example,at least a portion of the body structure 106 can include one or more ofa biodegradable material or a bioresorbable material.

The sensor 108 is coupled to the body structure 106 and is oriented todetect at least one characteristic of the biological lumen and togenerate one or more sense signals. In an embodiment, the sensor 108generates the one or more sense signals upon detection of at least onecharacteristic of the biological lumen. In an embodiment, the sensor 108constantly generates sense signals, even when no characteristics of thebiological lumen are observed (e.g., null signals). The sensor 108 caninclude, but is not limited to, an optical device (e.g., an opticalsensor such as a near infrared sensor or laser, or an imaging devicesuch as a camera), a physiological sensor, a pH sensor, a pressuresensor, a temperature sensor, a chemical sensor, or a biosensor.

The processor 110 is operably coupled to the sensor 108 and isconfigured to receive the one or more sense signals from the sensor 108.The processor 110 includes components to process the one or more sensesignals from the sensor 108 and to provide instruction to one or morecomponents of the system 100, such as via one or more data signals. Forexample, the processor 110 can be configured to process the one or moresense signals to analyze whether the first intraluminal device 102 andthe second intraluminal device 104 are properly positioned or in anappropriate condition for initializing or ceasing energy transfer. Forexample, the processor 110 can include a microprocessor, a centralprocessing unit (CPU), a digital signal processor (DSP), anapplication-specific integrated circuit (ASIC), a field programmablegate entry (FPGA), or the like, or any combinations thereof, and caninclude discrete digital or analog circuit elements or electronics, orcombinations thereof. In one embodiment, the processor 110 includes oneor more ASICs having a plurality of predefined logic components. In oneembodiment, the processor 110 includes one or more FPGAs having aplurality of programmable logic commands.

The data transmitter 112 is coupled to the body structure 106 and isconfigured to wirelessly transmit one or more data signals associatedwith the one or more sense signals from the sensor 108 responsive toinstruction by the processor 110. For example, the data transmitter 112can include one or more of an antenna structure, a transmitterstructure, a transceiver structure, or the like, to wirelessly transmitdata signals associated with observations made by the first intraluminaldevice 102 (e.g., via the sensor 108, a location determination device ofsystem 100, or the like) or associated with instructions provided viathe processor 110 for execution by other components of the system 100(e.g., components of the first intraluminal device 102, components ofthe second intraluminal device 104, etc.), or to receive data signals,instructions, control commands, or the like from a device or systemexternal to the system 100 or external to the intraluminal devices.

The wireless energy receiver 114 is coupled to the body structure 106and is oriented to receive energy originating external to the firstintraluminal device 102 to power at least one of the sensor 108, theprocessor 110, or the data transmitter 112. For example, the wirelessenergy receiver 114 can include one or more of an antenna structure, areceiver structure, or a transceiver structure, or the like, towirelessly receive energy (e.g., one or more power signals) originatingexternal to the first intraluminal device 102. In an embodiment, thewireless energy receiver 114 and the data transmitter 112 can includeshared structural components to facilitate the operations of each of thewireless energy receiver 114 and the data transmitter 112 (e.g., thereception of power signals and the transmission of data signals). In anembodiment, the first intraluminal device 102 is operably coupled withthe second intraluminal device 104 to facilitate transfer of energy fromthe second intraluminal device 104 to the wireless energy receiver 114of the first intraluminal device 102 to provide power to one or morecomponents of the first intraluminal device 102. In an embodiment, thefirst intraluminal device 102 includes a local energy storage componentoperably coupled with the wireless energy receiver 114 to store at leasta portion of the energy received by the wireless energy receiver 114 foruse by the first intraluminal device 102. For example, the local energystorage component can include, but is not limited to, a battery or acapacitive energy storage device.

The second intraluminal device 104 includes a second body structure 116and an energy storage device 118. The second intraluminal device 104 isgenerally configured for supply or resupply power to the firstintraluminal device 102, where the second body structure 116 facilitateslumen travel by being dimensioned and structured to travel through thebiological lumen. For example, the second body structure 116 can adopt acapsule/structure or a pill shape/structure, or another shape orstructure, to facilitate travel through the biological lumen to bringthe second intraluminal device 104 within operating range of the firstintraluminal device 102 to transfer energy from the second intraluminaldevice 104 to the first intraluminal device 102. In an embodiment, thebody structure 116 includes a hermetic seal to protect one or morecomponents of the second intraluminal device 104 from the environmentwithin the individual subject. In an embodiment, at least a portion ofthe second intraluminal device 104 comprises one or more of abiocompatible material, a biodegradable material, or a bioresorbable orbioabsorbable material (e.g., a natural or synthetic biodegradable orbioresorbable polymer, a bioresorbable ceramic or metal, silk, orpaper). For example, at least a portion of the body structure 116 caninclude one or more of a biodegradable material or a bioresorbablematerial.

The energy storage device 118 is coupled to the second body structure116 and is configured to wirelessly transfer energy stored in the energystorage device 118 to the wireless energy receiver 114 of the firstintraluminal device 102 when the first intraluminal device 102 and thesecond intraluminal device 104 are positioned within the subject (e.g.,FIG. 1 displays the first intraluminal device 102 and the secondintraluminal device 104 positioned within the gastrointestinal system ofthe subject). The wireless transfer of energy from the energy storagedevice 118 to the wireless energy receiver 114 can occur over a wirelesspower coupling 120. In an embodiment, shown in FIG. 2, the secondintraluminal device 104 includes a power transmitter 200 coupled to theenergy storage device 118, where the power transmitter 200 transfersenergy stored in the energy storage device 118 via the wireless powercoupling 120 to the wireless energy receiver 114 of the firstintraluminal device 102. In an embodiment, the power transmitter 200includes an electromagnetic power transmitter 202 a having anelectromagnetic coupling 202 b between the energy storage device 118 andthe wireless energy receiver 114. In an embodiment, the powertransmitter 200 includes a microwave power transmitter 204 a having amicrowave coupling 204 b between the energy storage device 118 and thewireless energy receiver 114. In an embodiment, the power transmitter200 includes an infrared power transmitter 206 a having an infraredcoupling 206 b between the energy storage device 118 and the wirelessenergy receiver 114. In an embodiment, the power transmitter 200includes an optical power transmitter 208 a having an optical coupling208 b between the energy storage device 118 and the wireless energyreceiver 114. In an embodiment, the power transmitter 200 includes anacoustic power transmitter 210 a having an acoustic coupling 210 bbetween the energy storage device 118 and the wireless energy receiver114. For example, the acoustic power transmitter 210 a can include, butis not limited to, an ultrasonic power transmitter 212 a having anultrasonic coupling 212 b between the energy storage device 118 and thewireless energy receiver 114. In an embodiment, the power transmitter200 is integrated in the energy storage device 118. The amount of powertransmitted from the second intraluminal device 104 to the firstintraluminal power device 102 can be sufficient to power components ofthe first intraluminal device (e.g., multi-functional featurecomponents, high resolution video components, surgical components,lasing components, motive components, or the like), and can be, forexample, from about 200 mW to about 1000 mW. In an embodiment, theamount of power transferred can exceed 1000 mW.

The transfer of energy between the energy storage device 118 and thewireless energy receiver 114 can be initiated according to one or moreactivation protocols, which can depend on factors including, but notlimited to, identification of one or more of the first intraluminaldevice 102 or the second intraluminal device 104, identification of oneor more environmental conditions within the individual subject,identification of an absolute or relative position of one or more of thefirst intraluminal device 102 or the second intraluminal device 104,identification of an energy transfer efficiency between the firstintraluminal device 102 and the second intraluminal device 104, externalcontrol instructions, or through other activation protocols.

For example, in an embodiment, shown in FIGS. 3A-3C, at least one of thefirst intraluminal device 102 or the second intraluminal device 104includes at least one sensor 300 configured to detect the other of thefirst intraluminal device 102 or the second intraluminal device 104. Thesensor 300 can be operable to detect one or more of the firstintraluminal device 102 or the second intraluminal device 104 toidentify one or more characteristics of the respective devices,including but not limited to, a location of one of the respectivedevices relative to the other of the respective devices, a distancebetween the respective devices, an orientation of one of the respectivedevices relative to the other of the respective devices, or an angularorientation of one of the respective devices relative to the other ofthe respective devices. Additionally or alternatively, in an embodiment,the sensor 300 can be or can utilize a location-determination device ofthe system 100 configured to determine the relative or absolutepositions of the first intraluminal device 102 or the secondintraluminal device 104 (further described below). In an embodiment, thesecond intraluminal device 104 includes circuitry 302 that causes thepower transmitter 200 to transfer energy (e.g., via power coupling 120)stored in the energy storage device 118 to the wireless energy receiver114 of the first intraluminal device 102 responsive to reaching athreshold distance between the first intraluminal device 102 and thesecond intraluminal device 104. For example, the sensor 300 can detect adistance between the first intraluminal device 102 and the secondintraluminal device 104 and generate one or more sense signalsresponsive thereto, whereby the circuitry 302 can receive the one ormore sense signals to initiate power transfer when the one or more sensesignals are indicative of reaching or being within a threshold distancebetween the first intraluminal device 102 and the second intraluminaldevice 104. Alternatively or additionally, the first intraluminal device102 can communicate (e.g., via data transmitter 112) instructions to thesecond intraluminal device 104 (which can be received via a receiver 304(e.g., antenna, transceiver, etc.)) to initiate power transfer when theone or more sense signals are indicative of reaching or being within athreshold distance between the first intraluminal device 102 and thesecond intraluminal device 104, such as when the sensor 300 ispositioned on the first intraluminal device 102 (shown in FIG. 3C). Inan embodiment, the receiver 304 is incorporated in the power transmitter200, such as via a transceiver structure. The determination of whetherthe distance between the first intraluminal device 102 and the secondintraluminal device 104 is at or within a threshold distance can beperformed by one or more of the processor 110 or the circuitry 302,where the threshold distance can be a stored value that can depend onpower transfer considerations (e.g., constraints of the powertransmitter 200, of the power coupling 120, etc.), can depend onparticular environmental considerations (e.g., biologicalcharacteristics associated with the biological lumen, surrounding tissueor bodily fluids, etc., which can influence power transfer), or thelike.

In an embodiment, the circuitry 302 causes the power transmitter 200 totransfer energy (e.g., via power coupling 120) stored in the energystorage device 118 to the wireless energy receiver 114 of the firstintraluminal device 102 responsive to an orientation of the firstintraluminal device 102 relative to the second intraluminal device 104.For example, the sensor 300 can detect an orientation of the firstintraluminal device 102 relative to the second intraluminal device 104and generate one or more sense signals responsive thereto, whereby thecircuitry 302 can receive the one or more sense signals to initiatepower transfer when the one or more sense signals are indicative of aparticular orientation of the first intraluminal device 102 relative tothe second intraluminal device 104 suitable for power transfer.Alternatively or additionally, the first intraluminal device 102 cancommunicate (e.g., via data transmitter 112) instructions to the secondintraluminal device 104 (which can be received via the receiver 304) toinitiate power transfer when the one or more sense signals areindicative of a particular orientation of the first intraluminal device102 relative to the second intraluminal device 104 suitable for powertransfer. The determination of whether the orientation of the firstintraluminal device 102 relative to the second intraluminal device 104is suitable for power transfer can be performed by one or more of theprocessor 110 or the circuitry 302. For example, one or more of theprocessor 110 or the circuitry 302 can include or can access anorientation-determination module to provide one or more algorithms todetermine whether the measured orientation between the firstintraluminal device 102 relative to the second intraluminal device wouldbe suitable for power transfer or would fall within a predeterminedrange of orientations suitable for power transfer. The orientationssuitable for power transfer can depend on power transfer considerations(e.g., constraints of the power transmitter 200, of the power coupling120, etc.), can depend on particular environmental considerations (e.g.,biological characteristics associated with the biological lumen,surrounding tissue or bodily fluids, etc., which can influence powertransfer), or the like. In an embodiment, the circuitry 302 causes thepower transmitter 200 to transfer energy stored in the energy storagedevice 118 to the wireless energy receiver 114 of the first intraluminaldevice 102 responsive to an angular orientation of the firstintraluminal device 102 relative to the second intraluminal device 104.

In an embodiment, the power transmitter 200 transfers energy (e.g., viapower coupling 120) stored in the energy storage device 118 to thewireless energy receiver 114 of the first intraluminal device 102responsive to an energy transfer efficiency between the energy storagedevice 118 and the wireless energy receiver 114 being above a thresholdefficiency. For example, one or more of the processor 110 or thecircuitry 302 can make a determination of energy transfer efficiency(e.g., based on sense signals generated by the sensor 300), which candepend on a distance between the first intraluminal device 102 and thesecond intraluminal device 104, an orientation of the first intraluminaldevice 102 relative to the second intraluminal device 104, a density orcomposition of biological material separating the first intraluminaldevice 102 and the second intraluminal device 104, or the like. Forexample, one or more of the processor 110 or the circuitry 302 caninclude or can access an energy transfer efficiency determination moduleto provide one or more algorithms to determine whether the positioningof the first intraluminal device 102 relative to the second intraluminaldevice 104 would be suitable for power transfer (e.g., would meet apredetermined energy transfer efficiency).

In an embodiment, shown in FIG. 3D, the sensor 108 can include, but isnot limited to, an optical device 306 (e.g., an optical sensor, acamera, etc.), a physiological sensor 308 (e.g., a pH sensor,temperature sensor, oximeter, pressure sensor, electrical conductivitysensor, etc.), a pH sensor 310 (e.g., to detect a pH indicating positionwithin a gastrointestinal tract), a pressure sensor 312, a temperaturesensor 314 (e.g., to detect whether the device is in the body or hasbeen eliminated), a chemical sensor 316, or a biosensor 318. Aphysiological sensor can include a sensor able to measure aphysiological parameter; for example, physiological parameters in thegastrointestinal tract that are routinely of interest to physiciansinclude temperature, pH, pressure, oxygenation, and electricalconductivity, while a physiological parameter of the viscosity of mucus(e.g., identified by imaging) would be of interest in a respiratorytract of a cystic fibrosis patient.

Physiological sensors can include chemical sensors and biosensors. Forexample, without limitation, a chemical sensor can detect a chemicalsignature of an analyte, for example an analyte of a physiologicalorigin (e.g., a cellular compound, a secreted compound such as anantibody or a cytokine, or a metabolite) or an analyte of an exogenousorigin (e.g., an ingested or inhaled substance, such as a drug, or atagging or labeling compound such as might be released from the firstintraluminal device 102 or provided separately). Examples of chemicalsensors include, but are not limited to, sensors having recognitionelements, electronic chip sensors, microbalance sensors, and nearinfrared spectrometers. A biosensor can detect a biochemical orbiological element. Biosensors include, for example but are not limitedto, sensors having a biological recognition element able to bind ananalyte of interest (e.g., an aptamer-based microcantilever) and sensorsutilizing an enzyme with recognition and reaction properties. In anembodiment, chemical sensors or biosensors can include molecular sensoror nanosensor aspects.

In an embodiment, shown in FIG. 3D, the sensor 300 can include, but isnot limited to, a reader and tag pair 320, an acoustic sensor 322, anoptical sensor 324, or a proximity sensor 326. For example, the readerand tag pair 320 can include an RFID tag and reader pair, where one ofthe first intraluminal device 102 or the second intraluminal device 104can include the RFID tag, and the other of the first intraluminal device102 or the second intraluminal device 104 can include the readerconfigured to detect a presence and/or identify the other of the firstintraluminal device 102 or the second intraluminal device 104 based onrecognition of the RFID tag. The acoustic sensor 322 can detect and/oridentify the first intraluminal device 102 (e.g., when the acousticsensor 322 is located on the second intraluminal device 104) or thesecond intraluminal device 104 (e.g., when the acoustic sensor 322 islocated on the first intraluminal device 102) based on detected acousticsignals. For example, the acoustic sensor 322 can be configured to emitan acoustic signal (e.g., ultrasonic signal, radio-frequency signal,etc.) and detect a reflected signal, such as a reflected acoustic signalthat is reflected by the first intraluminal device 102 or the secondintraluminal device 104. For example, the acoustic sensor 322 on thefirst intraluminal device 102 or the second intraluminal device 104 canbe configured to detect an acoustic signal emitted by the other of thefirst intraluminal device 102 or the second intraluminal device 104. Theoptical sensor 324 can detect and/or identify the first intraluminaldevice 102 (e.g., when the optical sensor 324 is located on the secondintraluminal device 104) or the second intraluminal device 104 (e.g.,when the optical sensor 324 is located on the first intraluminal device102) based on detected optical signals. For example, the optical sensor324 can include, but is not limited to, an imaging device (e.g., acamera to generate a visual image of an intraluminal device orenvironment), a photodetector (e.g., e.g., to detect one or moreelectromagnetic signals reflected from a surface of an intraluminaldevice or environmental feature), or the like. The proximity sensor 326can detect and/or identify the first intraluminal device 102 (e.g., whenthe proximity sensor 326 is located on the second intraluminal device104) or the second intraluminal device 104 (e.g., when the proximitysensor 326 is located on the first intraluminal device 102) based ondetected proximity between the respective intraluminal devices. Forexample, the proximity sensor 326 can include, but is not limited to, apressure sensor (e.g., to detect pressure differentials associated withthe presence of an object within an environment), an electromagneticproximity sensor (e.g., to detect and/or identify an intraluminal deviceor environmental feature based on detected electromagnetic signals, suchas a bolometer or thermal imaging device), or the like.

In an embodiment, shown in FIG. 4, the system 100 includes a locationdetermination device 400 configured to determine at least one of anabsolute location or a relative location of at least one of the firstintraluminal device 102 or the second intraluminal device 104. In anembodiment, the location determination device 400 can be operable todetermine an absolute location of one of the first intraluminal device102 or the second intraluminal device 104 within the lumen, includingits position in three-dimensional (3D) space, the distance it hastraveled along the lumen, and the region of the lumen in which it islocated. In an embodiment, the location determination device 400 can beoperable to determine a location of the first intraluminal device 102 orthe second intraluminal device 104 and can inform the processor 110 ofthe first intraluminal device 102 or the second intraluminal device 104in regards to its motion. For example, the location determination device400 can be operable to determine a location of the first intraluminaldevice 102 within a gastrointestinal tract and, if the location meets apre-defined location (e.g., the small intestine or a site where thedevice must remain for some time), can inform the processor 110 todirect a motive structure of the first intraluminal device 102 or thesecond intraluminal device (e.g., motive structure 700 described furtherherein) to move in a particular direction or direct a motion-resistivemechanism of the first intraluminal device 102 or the secondintraluminal device (e.g., motion-resistive mechanism 900 describedfurther herein) to halt motion (e.g., by engaging the wall of thelumen). For example, the location determination device 400 can beoperable to determine a relative location of the second intraluminaldevice 104 relative to the first intraluminal device 102 and inform theprocessor 110, which can direct the motive structure to induce movementtoward the first intraluminal device 102. In an embodiment, the locationdetermination device 400 can be operable to determine a relativelocation of one of the first intraluminal device 102 or the secondintraluminal device 104 relative to the other of the first intraluminaldevice 102 or the second intraluminal device 104, such as to determinewhen to initiate power transfer from the second intraluminal device 104to the first intraluminal device 102. The location determination device400 can include, but is not limited to, one or more of a physical sensor402 (e.g., time sensor, distance sensor, flow sensor, or pressuresensor), a chemical sensing device 404 (e.g., a pH sensor or chemicalsensor, which may be or utilize sensor 108), an optical sensor 406(e.g., a laser, near infrared sensor, or imaging sensor), a radiofrequency device 408 (e.g., for triangulation), an acoustic device 410(e.g., acoustic source localization device or ultrasound), alocalization beacon 412, or a magnetic tracking system 414. In anembodiment, the location determination device can include an externalcomponent external to the intraluminal devices. In an embodiment, theprocessor 110 is configured to control an angular sensitivity of atleast one of the wireless energy receiver 114 or the energy storagedevice 118 based on the at least one of the absolute location or therelative location determined via the location determination device 400.The angular sensitivity can be controlled via motion of the firstintraluminal device 102 or the second intraluminal device (describedfurther herein), via motion of one or more individual components of thefirst intraluminal device 102 or the second intraluminal device (e.g.,the wireless energy receiver 114, the energy storage device 118, etc.).For example, the processor 110 can receive one or more signals (e.g.,location signals) from the location determination device 400 and make adetermination about whether an angular sensitivity of at least one ofthe wireless energy receiver 114 or the energy storage device 118 shouldbe adjusted, which can depend on the power transfer considerations, apower level of at least one of the first intraluminal device 102 or thesecond intraluminal device 104, or the like.

In an embodiment, shown in FIG. 5, at least one of the firstintraluminal device 102 or the second intraluminal device 104 iscontrollable via an external controller 500. For example, the externalcontroller 500 can be positioned external to the body of the individualsubject to provide control signals to one or more components of thesystem 100. In an embodiment, the external controller 500 is operable tosend one or more control signals to a receiver of one or more of thefirst intraluminal device 102 (e.g., the wireless energy receiver 114,another receiving device, etc.) or the second intraluminal device 104(e.g., receiver 304, a component of power transmitter 200, etc.). One ormore of the processor 110 or the circuitry 302 can receive the controlsignals from the external controller 500 for execution of the commands,including, but not limited to, initiation of transfer of energy, ceasingof transfer of energy, repositioning of one or more of the firstintraluminal device 102 or the second intraluminal device, activation ordeactivation of one or more components of one or more of the firstintraluminal device 102 or the second intraluminal device (e.g., sensor108, data transmitter 112, sensor 300, etc.), or the like. In anembodiment, the external controller 500 includes a communication device,such as one or more of a mobile communication device or a computersystem including, but not limited to, mobile computing devices (e.g.,hand-held portable computers, Personal Digital Assistants (PDAs), laptopcomputers, netbook computers, tablet computers, or so forth), mobiletelephone devices (e.g., cellular telephones and smartphones), devicesthat include functionalities associated with smartphones and tabletcomputers (e.g., phablets), portable game devices, portable mediaplayers, multimedia devices, satellite navigation devices (e.g., GlobalPositioning System (GPS) navigation devices), e-book reader devices(eReaders), Smart Television (TV) devices, surface computing devices(e.g., table top computers), Personal Computer (PC) devices, and otherdevices that employ touch-based human interfaces. The externalcontroller 500 can communicate (e.g., send and receive communicationsignals) with one or more components of system 100 via one or moreconnected or wireless communication mechanisms including, but notlimited to acoustic communication signals, optical communicationsignals, radio communication signals, infrared communication signals,ultrasonic communication signals, or the like.

In an embodiment, shown in FIGS. 6A-6E, at least one of the firstintraluminal device 102 or the second intraluminal device 104 includesan actuator 600 configured to initiate transfer of energy from theenergy storage device 118 to the wireless energy receiver 114. Theactuator 600 can include, but is not limited to, a mechanical actuator602, a fluid-driven actuator 604, a chemical actuator 606, anelectromechanical actuator 608, a magnetic actuator 610, or anelectromagnetic actuator 612. For example, the actuator 600 can initiatetransfer of energy based on conditions surrounding one or more of thefirst intraluminal device 102 or the second intraluminal device, by aposition of one or more of the first intraluminal device 102 or thesecond intraluminal device, by external command, or the like, which canbe facilitated by the location determination device 400, one or moresensors of the system 100 (e.g., sensor 108, sensor 300), one or morereceivers of the system 100 (e.g., receiver 304, wireless energyreceiver 114, etc.), or by another component of the system 100. Forexample, transfer can be initiated upon reaching a certain positionwithin the individual's body determined by fluid flow or pressuremeasurements or by the location determination device 400 (e.g., foroperation of the first intraluminal device 102 within the respiratorysystem), determined by pH (e.g., for operation of the first intraluminaldevice 102 within a particular portion of the gastrointestinal systemhaving a particular pH); transfer is initiated upon reaching a portionof the body having particular electromagnetic characteristics (e.g., foroperation of the first intraluminal device within a particular portionof the nervous system), or the like). Referring to FIG. 6B, the firstintraluminal device 102 can include the actuator 600, whereby theactuator 600 can initiate transfer of energy from the energy storagemodule 118 of the second intraluminal device 104, such as throughcommunication signals transmitted from the data transmitter 112 or othercommunications component. Referring to FIG. 6C, the second intraluminaldevice 104 can include the actuator 600 where the actuator 600 caninitiate transfer of energy from the energy storage module to thewireless energy receiver 114 of the first intraluminal device 102.

Referring to FIG. 6D, the processor 110 of first intraluminal device 102can include (or can be operably coupled to) a control circuit 614, wherethe control circuit 614 can drive actuation of the actuator 600 inresponse to one or more of a timer output, a sensor output, or acommunication received from a source external to the individual subject(e.g., from the external controller 500). For example, the controlcircuit 614 can be coupled to one or more of the location determinationdevice 400, the sensor 108, the sensor 300, or other component that cangenerate one or more signals to identify a time or condition under whichactuation of the actuator 600 should occur. For example, the actuator600 can initiate transfer of energy based on a time period sinceintroduction of the first intraluminal device 102 or the secondintraluminal device 104 to the biological lumen, based on externalcontrol by a medical professional or other user, or based on conditionssurrounding one or more of the first intraluminal device 102 or thesecond intraluminal device (e.g., transfer is initiated upon reaching acertain position within the individual's body determined by fluid flowor pressure (e.g., for operation of the first intraluminal device 102within the respiratory system), determined by pH (e.g., for operation ofthe first intraluminal device 102 within a particular portion of thegastrointestinal system having a particular pH); transfer is initiatedupon reaching a portion of the body having particular electromagneticcharacteristics (e.g., for operation of the first intraluminal devicewithin a particular portion of the nervous system), or the like).Referring to FIG. 6E, the second intraluminal device 104 can include thecontrol circuit 614, which can be coupled to one or more of the locationdetermination device 400, the sensor 300, the sensor 108 (e.g., via acommunication link between the first intraluminal device 102 and thesecond intraluminal device 104, such as between the data transmitter 112and the receiver 304), or other component that can generate one or moresignals to identify a time or condition under which actuation of theactuator 600 should occur.

In an embodiment, shown in FIG. 7, at least one of the firstintraluminal device 102 or the second intraluminal device 104 includes amotive structure 700 operable to provide movement (e.g., alteration ofposition, orientation, etc.) to the respective intraluminal devices. Asdescribed herein, the positioning and/or orientation of the intraluminaldevices can influence power transfer conditions, such as triggers forinitiation of power transfer, efficiency of power transfer, or the like.The motive structure 700 can include, but is not limited to, one or moreof an oscillatory motive mechanism 702, a vibratory motive mechanism704, an actuator-driven bending mechanism 706, a unimorph actuator 708,a bimorph actuator 710, a pneumatic bellow 712, a lumen-surface-engagingstructure 714, an impelling device 716, or a jointed appendage 718. Forexample, in an embodiment, an intraluminal device includes at least oneinchworm-like motive mechanism, in which at least a portion of anintraluminal device intermittently engages and disengages from thesurface thereby traversing a distance. For example, an intraluminaldevice can include an inchworm motor. For example, an intraluminaldevice can include an inchworm actuator. For example, an intraluminaldevice can include a stick and slip mechanism. In an embodiment, anintraluminal device includes at least one earthworm-like motivemechanism, in which at least a portion of an intraluminal device isadjacently displaced along the surface thereby traversing a distance. Inan embodiment an intraluminal device includes mechanism inducing forcedbending vibrations of continua of an intraluminal device driven byactuators such as piezoelectric bending actuators. The locomotiondirection of an intraluminal device can be controlled by the excitationfrequencies of the actuation element. In an embodiment, an intraluminaldevice may include a piezoelectric unimorph actuator or a piezoelectricbimorph actuator. In an embodiment, an intraluminal device can includeat least one actuator that drives the movement of at least a portion ofan intraluminal device and the engagement of the surface. For example,an intraluminal device might include two-way linear actuators usingsprings made from a shape memory alloy. For example, an intraluminaldevice might include a piezoelectric microactuator. For example, anintraluminal device might include a micromotor. In an embodiment anintraluminal device is jointed between sections of an intraluminaldevice, and one or more actuators drive each section, for example in aninchworm- or earthworm-like fashion. In an embodiment, an intraluminaldevice includes an expandable bellow, for example, a pneumatic bellows,that provides the locomotive mechanism. In an embodiment, anintraluminal device includes surface-engaging protrusions,microprotrusions, setae, micropilli, or adhesive micropilli. In anembodiment, at least a portion of an intraluminal device includesmicro-patterning on the surface, e.g., for friction enhancement. In anembodiment, an intraluminal device includes at least one motivemechanism configured to touch, grasp, grip, or otherwise engage thesurface tissue of the lumen.

In an embodiment, the impelling device 716 is configured to engage thelumen tissue and provide locomotion to an intraluminal device; forexample, an impelling device might comprise one or more appendages,legs, or wheels, with or without adhesive aspects, e.g., adhesivemicropilli. One or more actuators or motors can be used to driveimpelling devices. Examples of actuators include piezoelectric, DCmotors, electromagnetic, and electrostatic actuators. In addition,actuators can be formed from shape memory alloys or ionic polymer metalcomponents. In an embodiment an intraluminal device includes jointedappendages and legs that can be actuated to propel an intraluminaldevice forward in a walking or crawling motion. For example, a leggedlocomotion system can include a slot-follower mechanism driven via leadscrew to provide propulsive force to a jointed leg. For example,multiple jointed legs, e.g., of superelastic or other material, can bemotivated to interact with the surface under control of a motor, e.g., abrushless minimotor. For example, appendages or legs can be formed fromshape memory alloy and driven by the application of current. Forexample, appendages can act to engage the surface driven by rotationalforces to provide locomotion. For example, wheels can be driven bymotors or other actuators. In an embodiment, actuators includemicroelectromechanical systems.

In an embodiment, shown in FIG. 8, at least one of the firstintraluminal device 102 or the second intraluminal device 104 includes asteering mechanism 800. For example, the steering mechanism 800 can beoperable to alter a direction of travel of first intraluminal device 102or the second intraluminal device 104. The steering mechanism 800 can beutilized as an alternative to the motive structure 700 or in addition tothe motive structure 700 (e.g., to provide directional change duringmotion). For example, in an embodiment, an intraluminal device isconfigured to employ one or more impelling mechanisms in a manner toprovide movement in a particular direction. For example, to changedirection (e.g., as directed by a controller), only a portion ofmultiple appendages (or legs or wheels) can be actuated, thereby movinga portion of an intraluminal device so that the intraluminal deviceheads in a new direction and allowing an intraluminal device to besteered. In an embodiment an intraluminal device includes one or morearrays of impelling mechanisms. For example an intraluminal device mayinclude an array of impelling mechanisms aligned along an x-axis and asecond array of impelling mechanisms aligned along a y-axis.

In an embodiment, shown in FIG. 9, at least one of the firstintraluminal device 102 or the second intraluminal device 104 includes amotion-resistive mechanism 900. For example, the motion-resistivemechanism 900 is operable to resist a motion of the intraluminal device,such as to slow or stop the intraluminal device within the biologicallumen. In an embodiment, the motion-resistive mechanism 900 includes awall-engaging structure 902 configured to engage a wall of thebiological lumen to secure at least one of the first intraluminal device102 or the second intraluminal device 104 with respect to the wall ofthe biological lumen. For example, the wall-engaging structure 902includes at a structural component configured to physically interactwith (e.g., grasp, adhere to, etc.) the wall of the biological lumen toresist motion of the intraluminal device, such as to anchor theintraluminal device, at least temporarily, with respect to the wall ofthe biological lumen. In an embodiment, the processor 110 is configuredto direct the motion-resistive mechanism 900 proximate a wall of thebiological lumen to secure the first intraluminal device with respect tothe wall of the biological lumen. For example, the processor 110 cangenerate one or more control signals (e.g., after analysis of signals orlack of signals from the sensor 108) to control operation of themotion-resistive mechanism 900 to resist motion of one or more of thefirst intraluminal device 102 or the second intraluminal device 104(e.g., via transmission of the control signals to the secondintraluminal device 104). In an embodiment, the processor 110 isconfigured to direct the motion-resistive mechanism 900 proximate a wallof the biological lumen to secure the first intraluminal device 102 withrespect to the wall of the biological lumen until the secondintraluminal device 104 is within a threshold proximity of the firstintraluminal device 102. For example, the processor 110 can generate oneor more control signals to control operation of the motion-resistivemechanism 900 to stop motion of the first intraluminal device to permittime for the second intraluminal device 104 to move closer to the firstintraluminal device 102 (e.g., permit time to “catch up,” such as if thesecond intraluminal device 104 is introduced to the biological lumen ata time subsequent to introduction of the first intraluminal device 102to the biological lumen). The processor 110 can make determinations asto the proximity of the respective intraluminal devices via sensesignals received from one or more sensors of the system 100 (e.g.,sensor 108, sensor 300, etc.). The processor 110 can initiate engagementof the motion-resistive mechanism 900 according to any of the protocolsdescribed herein, including but not limited to, sensing of a particularenvironmental condition (e.g., pH, temperature, pressure, etc.),distance between the respective intraluminal devices, orientation of therespective intraluminal devices, passage of a period of time, externalcontrol signal, or the like.

FIG. 10 illustrates a method 1000 for intraluminal analysis includingtransfer of energy from one intraluminal device to another intraluminaldevice. Method 1000 shows introducing a first intraluminal device into abiological lumen of a subject in block 1002, where the firstintraluminal device includes a wireless energy receiver to wirelesslyreceive energy originating external to the first intraluminal device topower at least one component of the first intraluminal device. Forexample, the first intraluminal device 102 can be introduced to abiological lumen of a subject through one or more methods including, butnot limited to, ingestion (e.g., for analysis of gastrointestinalsystems), injection (e.g., for analysis of a respiratory system, acardiovascular system, etc.), a cut down procedure, via an endoscope,via a catheter, via a trocar, or the like. Method 1000 also includesintroducing a second intraluminal device into the biological lumen ofthe subject in block 1004, where the second intraluminal device includesan energy storage device configured to wirelessly transfer energy storedin the energy storage device to the wireless energy receiver of thefirst intraluminal device when the first intraluminal device and thesecond intraluminal device are positioned within the subject. Forexample, the second intraluminal device 104 can be introduced to thebiological lumen of the subject through one or more methods including,but not limited to, ingestion (e.g., for analysis of gastrointestinalsystems), injection (e.g., for analysis of a respiratory system, acardiovascular system, etc.), a cut down procedure, via an endoscope,via a catheter, via a trocar, or the like. In an embodiment, the secondintraluminal device 104 can be introduced to the same biological lumenas the first intraluminal device 102, or can be introduced to adifferent biological lumen than the first intraluminal device 102 (e.g.,a biological lumen of a different body system, a different biologicallumen within the same body system as the biological lumen into which thefirst intraluminal device 102 was introduced, etc.). In an embodiment,the second intraluminal device 104 can be introduced to the biologicallumen substantially simultaneously with the first intraluminal device102 (e.g., simultaneous introduction may be limited by biologicalfactors, such as the size of the biological lumen, may be limited by theintroduction method, etc., whereby substantially simultaneously canrefer to substantially co-introduced to the biological lumen as dictatedby any physical limitation of the biological lumen or the intraluminaldevices preventing precise simultaneous introduction), can be introducedprior to introduction of the first intraluminal device 102, or can beintroduced subsequent to introduction of the first intraluminal device102.

In an embodiment, shown in FIG. 11, a system (or device) 1100 isconfigured to provide wireless power or energy transfer between modularintraluminal devices when the intraluminal devices are positioned withinone or more biological lumens of an individual subject (e.g., a humansubject, an animal subject). The system 1100 includes the firstintraluminal device 102 and the second intraluminal device 104, each ofwhich is configured for deployment within one or more biological lumenswithin the individual subject, such as a lumen of the gastrointestinaltract shown in FIG. 11. Certain components and/or functionalities of thefirst intraluminal device 102 and the second intraluminal device 104 ofsystem 1100 can be the same as or similar to those described regardingsystem 100 with reference to FIGS. 1-9, such as, for example, thestructure and/or functionalities associated with body structure 106, thesensor 108, the processor 110, the data transmitter 114, the second bodystructure 116, the energy storage device 118, the power transmitter 200,the sensor 300, the circuitry 302, the receiver 304, the locationdetermination device 400, the actuator 600, the control circuit 614, themotive structure 700, the steering mechanism 800, the motion-resistivemechanism 900, and/or other component. For system 1100, the firstintraluminal device 102 includes an energy storage module 1114configured to power at least one of the sensor 108, the processor 110,or the data transmitter 112. The energy storage module 1114 isconfigured to receive energy from the second intraluminal device 104,which can occur via wireless mechanisms or physical connections, asdescribed herein. The energy storage device 118 is coupled to the secondbody structure 116 of the second intraluminal device 104 and isconfigured to transfer energy stored in the energy storage device 118 tothe energy storage module 1114 of the first intraluminal device 102,where such energy transfer can depend upon coupling between the firstintraluminal device 102 and the second intraluminal device 104 withinthe biological lumen. For example, the second intraluminal device 104can include a docking structure 1102 coupled to the second bodystructure 116. The docking structure 1102 is configured to couple (e.g.,conditionally couple, where such coupling is a temporary coupling basedon satisfaction of a coupling condition, including, but not limited to,power supply, time, environmental conditions, etc.) the firstintraluminal device 102 with the second intraluminal device 104, wherethe energy storage device 118 is configured to transfer the energystored in the energy storage device 118 to the energy storage module1114 when the first intraluminal device 102 and the second intraluminaldevice 104 are coupled via the docking structure 1102. The dockingstructure 1102 is operable to automatically decouple the firstintraluminal device 102 and the second intraluminal device 104subsequent to transfer of the energy from the energy storage device 118of the second intraluminal device 104 to the energy storage module 1114of the first intraluminal device 102. For example, the coupling betweenthe first intraluminal device 102 and the second intraluminal device 104provided by the docking structure 1102 can be maintained while power issupplied to or through the docking structure 1102, where the power canbe provided on a finite or temporary basis by the energy storage device118 during transfer of energy to the energy storage module 1114. Whenenergy transfer is complete, or where the energy storage device 118 nolonger has sufficient energy stored, the power supplied to or throughthe docking structure 1102 can cease, thereby severing the couplingbetween the first intraluminal device 102 and the second intraluminaldevice 104.

In an embodiment, shown in FIG. 12, the docking structure 1102 includes,but is not limited to, one or more of a magnetic connector 1104, anelectromagnetic connector 1106, a switch structure 1108, a wiredconnector 1110, a connecting pin 1112, a conductive connector 1116, aconductive trace 1118, a substrate 1120, a flexible substrate 1122, oran inductive connector 1124. For example, the magnetic connector 1104can include one or more of a diamagnetic material, a paramagneticmaterial, a ferromagnetic material, etc. operable to magnetically couplethe first intraluminal device 102 with the second intraluminal device104. In an embodiment, the magnetic connector 1104 includes anelectromagnetic connector 1106 configured to provide an electromagneticconnection between the first intraluminal device 102 and the secondintraluminal device 104, such as while supplied with energy (e.g.,electric current, etc.). For example, the energy storage device 118 ofthe second intraluminal device 104 can power the electromagneticconnection established by the electromagnetic connector 1106 between thefirst intraluminal device 102 and the second intraluminal device 104. Inan embodiment, the electromagnetic connection can be maintained untilloss of power of the energy storage device 118 of the secondintraluminal device 104. In an embodiment, the electromagneticconnection can be maintained until a power level of the energy storagedevice 118 of the second intraluminal device 104 is reduced below athreshold power level. In an embodiment, the docking structure 1102includes a switch structure 1108 configured to maintain theelectromagnetic connection until a power level of the energy storagedevice 118 of the second intraluminal device 104 is reduced below athreshold power level. For example, the switch structure 1108 canautomatically cease powering the electromagnetic connector 1106 uponactivation or deactivation of the switch to decouple the electromagneticconnection (such as by providing a break in an electrical circuitpowering the electromagnetic connector 1106). In an embodiment, themagnetic connector 1104 includes a flux that is suitable to provideconditional coupling between the first intraluminal device 102 and thesecond intraluminal device 104 and that does not provide substantialcoupling between the first intraluminal device 102 and the secondintraluminal device 104 across biological tissue of the individualsubject. For instance, avoiding coupling across biological tissue canprevent or avoid conditions for volvulus, bowel perforation, tissueulcerations, or the like. For example, each magnet associated with themagnetic connector 1104 can have a flux index of about 50 kG²mm² orless.

In an embodiment, the docking structure 1102 includes the wiredconnector 1110 to provide a physical coupling between the firstintraluminal device 102 and the second intraluminal device 104. Forexample, the wired connector 1110 can include one or more connectingpins 1112 to connect the first intraluminal device 102 to the secondintraluminal device 104 within the biological lumen. In an embodiment,the docking structure 1102 includes the conductive connector 1116 toprovide a physical coupling and electrical coupling between the firstintraluminal device 102 and the second intraluminal device 104. Forexample, the conductive connector 1116 can include the conductive trace1118, where the conductive trace can be disposed on the substrate 1120(e.g., the flexible substrate 1122) to provide the coupling between thefirst intraluminal device 102 and the second intraluminal device 104. Inan embodiment, the docking structure 1102 includes the inductiveconnector 1124 to provide an inductive/electrical coupling between thefirst intraluminal device 102 and the second intraluminal device 104.For example, inductive connector 1124 can be included in addition to oneor more physical connectors between the first intraluminal device 102and the second intraluminal device 104, such as to provide physicalcoupling and inductive/electrical coupling between the firstintraluminal device 102 and the second intraluminal device 104.

In an embodiment, an example of which is shown in FIG. 13, at least oneof the energy storage device 118 and the energy storage module 1114includes, but is not limited to, a battery 1300, a microbattery 1302, anelectrochemical battery 1304, a fuel cell 1306, a capacitive energystorage device 1308, or an electromagnetic storage device 1310.

FIG. 14 illustrates a method 1400 for intraluminal analysis includingtransfer of energy from one intraluminal device to another intraluminaldevice. Method 1400 shows introducing a first intraluminal device into abiological lumen of a subject in block 1402, where the firstintraluminal device includes an energy storage module configured toreceive energy originating external to the first intraluminal device topower at least one component of the first intraluminal device. Forexample, the first intraluminal device 102 can be introduced to abiological lumen of a subject through one or more methods including, butnot limited to, ingestion (e.g., for analysis of gastrointestinalsystems), injection (e.g., for analysis of a respiratory system, acardiovascular system, etc.), a cut down procedure, via an endoscope,via a catheter, via a trocar, or the like. Method 1400 also includesintroducing a second intraluminal device into the biological lumen ofthe subject in block 1404, where the second intraluminal device includesan energy storage device configured to transfer energy stored in theenergy storage device to the energy storage module of the firstintraluminal device when the first intraluminal device and the secondintraluminal device are conditionally coupled within the subject. Forexample, the second intraluminal device 104 can be introduced to thebiological lumen of the subject through one or more methods including,but not limited to, ingestion (e.g., for analysis of gastrointestinalsystems), injection (e.g., for analysis of a respiratory system, acardiovascular system, etc.), a cut down procedure, via an endoscope,via a catheter, via a trocar, or the like. In an embodiment, the secondintraluminal device 104 can be introduced to the same biological lumenas the first intraluminal device 102, or can be introduced to adifferent biological lumen than the first intraluminal device 102 (e.g.,a biological lumen of a different body system, a different biologicallumen within the same body system as the biological lumen into which thefirst intraluminal device 102 was introduced, etc.).

In an embodiment, the second intraluminal device 104 can be introducedto the biological lumen substantially simultaneously with the firstintraluminal device 102 (e.g., simultaneous introduction may be limitedby biological factors, such as the size of the biological lumen, may belimited by the introduction method, etc., whereby substantiallysimultaneously can refer to substantially co-introduced to thebiological lumen as dictated by any physical limitation of thebiological lumen or the intraluminal devices preventing precisesimultaneous introduction), can be introduced prior to introduction ofthe first intraluminal device 102, or can be introduced subsequent tointroduction of the first intraluminal device 102. In an embodiment, theconditional coupling between the first intraluminal device 102 and thesecond intraluminal device 104 can be facilitated by the dockingstructure 1102, which can provide conditional coupling on the basis ofelectromagnetic connections, wired connections, magnetic connections, orthe like. For example, the condition for coupling can include a powerlevel threshold for one or more of the energy storage device 118 or theenergy storage module 1114, where upon exceeding or falling below thepower level threshold, the docking structure 1102 ceases to provide acoupling between the first intraluminal device 102 and the secondintraluminal device 104.

The state of the art has progressed to the point where there is littledistinction left between hardware, software, and/or firmwareimplementations of aspects of systems; the use of hardware, software,and/or firmware is generally (but not always, in that in certaincontexts the choice between hardware and software can becomesignificant) a design choice representing cost vs. efficiency tradeoffs.There are various vehicles by which processes and/or systems and/orother technologies described herein can be effected (e.g., hardware,software, and/or firmware), and that the preferred vehicle will varywith the context in which the processes and/or systems and/or othertechnologies are deployed. For example, if an implementer determinesthat speed and accuracy are paramount, the implementer may opt for amainly hardware and/or firmware vehicle; alternatively, if flexibilityis paramount, the implementer may opt for a mainly softwareimplementation; or, yet again alternatively, the implementer may opt forsome combination of hardware, software, and/or firmware. Hence, thereare several possible vehicles by which the processes and/or devicesand/or other technologies described herein can be effected, none ofwhich is inherently superior to the other in that any vehicle to beutilized is a choice dependent upon the context in which the vehiclewill be deployed and the specific concerns (e.g., speed, flexibility, orpredictability) of the implementer, any of which may vary. Those skilledin the art will recognize that optical aspects of implementations willtypically employ optically oriented hardware, software, and or firmware.

In some implementations described herein, logic and similarimplementations can include software or other control structures.Electronic circuitry, for example, may have one or more paths ofelectrical current constructed and arranged to implement variousfunctions as described herein. In some implementations, one or moremedia can be configured to bear a device-detectable implementation whensuch media hold or transmit device detectable instructions operable toperform as described herein. In some variants, for example,implementations can include an update or modification of existingsoftware or firmware, or of gate arrays or programmable hardware, suchas by performing a reception of or a transmission of one or moreinstructions in relation to one or more operations described herein.Alternatively or additionally, in some variants, an implementation caninclude special-purpose hardware, software, firmware components, and/orgeneral-purpose components executing or otherwise invokingspecial-purpose components. Specifications or other implementations canbe transmitted by one or more instances of tangible transmission mediaas described herein, optionally by packet transmission or otherwise bypassing through distributed media at various times.

Alternatively or additionally, implementations may include executing aspecial-purpose instruction sequence or otherwise invoking circuitry forenabling, triggering, coordinating, requesting, or otherwise causing oneor more occurrences of any functional operations described above. Insome variants, operational or other logical descriptions herein may beexpressed directly as source code and compiled or otherwise invoked asan executable instruction sequence. In some contexts, for example, C++or other code sequences can be compiled directly or otherwiseimplemented in high-level descriptor languages (e.g., alogic-synthesizable language, a hardware description language, ahardware design simulation, and/or other such similar mode(s) ofexpression). Alternatively or additionally, some or all of the logicalexpression may be manifested as a Verilog-type hardware description orother circuitry model before physical implementation in hardware,especially for basic operations or timing-critical applications.

The foregoing detailed description has set forth various embodiments ofthe devices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, each functionand/or operation within such block diagrams, flowcharts, or examples canbe implemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or virtually any combination thereof. Inone embodiment, several portions of the subject matter described hereincan be implemented via Application Specific Integrated Circuits (ASICs),Field Programmable Gate Arrays (FPGAs), digital signal processors(DSPs), or other integrated formats. However, some aspects of theembodiments disclosed herein, in whole or in part, can be equivalentlyimplemented in integrated circuits, as one or more computer programsrunning on one or more computers (e.g., as one or more programs runningon one or more computer systems), as one or more programs running on oneor more processors (e.g., as one or more programs running on one or moremicroprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one of skillin the art in light of this disclosure. In addition, the mechanisms ofthe subject matter described herein are capable of being distributed asa program product in a variety of forms, and that an illustrativeembodiment of the subject matter described herein applies regardless ofthe particular type of signal bearing medium used to actually carry outthe distribution.

In a general sense, the various embodiments described herein can beimplemented, individually and/or collectively, by various types ofelectro-mechanical systems having a wide range of electrical componentssuch as hardware, software, firmware, and/or virtually any combinationthereof and a wide range of components that may impart mechanical forceor motion such as rigid bodies, spring or torsional bodies, hydraulics,electro-magnetically actuated devices, and/or virtually any combinationthereof. Consequently, as used herein “electro-mechanical system”includes, but is not limited to, electrical circuitry operably coupledwith a transducer (e.g., an actuator, a motor, a piezoelectric crystal,a Micro Electro Mechanical System (MEMS), etc.), electrical circuitryhaving at least one discrete electrical circuit, electrical circuitryhaving at least one integrated circuit, electrical circuitry having atleast one application specific integrated circuit, electrical circuitryforming a general purpose computing device configured by a computerprogram (e.g., a general purpose computer configured by a computerprogram which at least partially carries out processes and/or devicesdescribed herein, or a microprocessor configured by a computer programwhich at least partially carries out processes and/or devices describedherein), electrical circuitry forming a memory device (e.g., forms ofmemory (e.g., random access, flash, read only, etc.)), electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, optical-electrical equipment, etc.), and/or any non-electricalanalog thereto, such as optical or other analogs. Examples ofelectro-mechanical systems include but are not limited to a variety ofconsumer electronics systems, medical devices, as well as other systemssuch as motorized transport systems, factory automation systems,security systems, and/or communication/computing systems.Electro-mechanical as used herein is not necessarily limited to a systemthat has both electrical and mechanical actuation except as context maydictate otherwise.

In a general sense, the various aspects described herein can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, and/or any combination thereof and can beviewed as being composed of various types of “electrical circuitry.”Consequently, as used herein “electrical circuitry” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of memory (e.g., random access, flash, readonly, etc.)), and/or electrical circuitry forming a communicationsdevice (e.g., a modem, communications switch, optical-electricalequipment, etc.). The subject matter described herein can be implementedin an analog or digital fashion or some combination thereof.

With respect to the use of substantially any plural and/or singularterms herein, the plural can be translated to the singular and/or fromthe singular to the plural as is appropriate to the context and/orapplication. The various singular/plural permutations are not expresslyset forth herein for sake of clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures can beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “operably coupled to” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents, and/or wirelessly interactable, and/or wirelesslyinteracting components, and/or logically interacting, and/or logicallyinteractable components.

In some instances, one or more components can be referred to herein as“configured to,” “configured by,” “configurable to,” “operable/operativeto,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc.Those skilled in the art will recognize that such terms (e.g.“configured to”) can generally encompass active-state components and/orinactive-state components and/or standby-state components, unlesscontext requires otherwise.

In general, terms used herein, and especially in the appended claims(e.g., bodies of the appended claims) are generally intended as “open”terms (e.g., the term “including” should be interpreted as “includingbut not limited to,” the term “having” should be interpreted as “havingat least,” the term “includes” should be interpreted as “includes but isnot limited to,” etc.). If a specific number of an introduced claimrecitation is intended, such an intent will be explicitly recited in theclaim, and in the absence of such recitation no such intent is present.For example, as an aid to understanding, the following appended claimsmay contain usage of the introductory phrases “at least one” and “one ormore” to introduce claim recitations. However, the use of such phrasesshould not be construed to imply that the introduction of a claimrecitation by the indefinite articles “a” or “an” limits any particularclaim containing such introduced claim recitation to claims containingonly one such recitation, even when the same claim includes theintroductory phrases “one or more” or “at least one” and indefinitearticles such as “a” or “an” (e.g., “a” and/or “an” should typically beinterpreted to mean “at least one” or “one or more”); the same holdstrue for the use of definite articles used to introduce claimrecitations. In addition, even if a specific number of an introducedclaim recitation is explicitly recited, those skilled in the art willrecognize that such recitation should typically be interpreted to meanat least the recited number (e.g., the bare recitation of “tworecitations,” without other modifiers, typically means at least tworecitations, or two or more recitations). Furthermore, in thoseinstances where a convention analogous to “at least one of A, B, and C,etc.” is used, in general such a construction is intended in the senseone having skill in the art would understand the convention (e.g., “asystem having at least one of A, B, and C” would include but not belimited to systems that have A alone, B alone, C alone, A and Btogether, A and C together, B and C together, and/or A, B, and Ctogether, etc.). In those instances where a convention analogous to “atleast one of A, B, or C, etc.” is used, in general such a constructionis intended in the sense one having skill in the art would understandthe convention (e.g., “a system having at least one of A, B, or C” wouldinclude but not be limited to systems that have A alone, B alone, Calone, A and B together, A and C together, B and C together, and/or A,B, and C together, etc.). Typically a disjunctive word and/or phrasepresenting two or more alternative terms, whether in the description,claims, or drawings, should be understood to contemplate thepossibilities of including one of the terms, either of the terms, orboth terms unless context dictates otherwise. For example, the phrase “Aor B” will be typically understood to include the possibilities of “A”or “B” or “A and B.”

This disclosure has been made with reference to various exampleembodiments. However, those skilled in the art will recognize thatchanges and modifications may be made to the embodiments withoutdeparting from the scope of the present disclosure. For example, variousoperational steps, as well as components for carrying out operationalsteps, may be implemented in alternate ways depending upon theparticular application or in consideration of any number of costfunctions associated with the operation of the system; e.g., one or moreof the steps may be deleted, modified, or combined with other steps.

Additionally, as will be appreciated by one of ordinary skill in theart, principles of the present disclosure, including components, may bereflected in a computer program product on a computer-readable storagemedium having computer-readable program code means embodied in thestorage medium. Any tangible, non-transitory computer-readable storagemedium may be utilized, including magnetic storage devices (hard disks,floppy disks, and the like), optical storage devices (CD-ROMs, DVDs,Blu-ray discs, and the like), flash memory, and/or the like. Thesecomputer program instructions may be loaded onto a general purposecomputer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructionsthat execute on the computer or other programmable data processingapparatus create a means for implementing the functions specified. Thesecomputer program instructions may also be stored in a computer-readablememory that can direct a computer or other programmable data processingapparatus to function in a particular manner, such that the instructionsstored in the computer-readable memory produce an article ofmanufacture, including implementing means that implement the functionspecified. The computer program instructions may also be loaded onto acomputer or other programmable data processing apparatus to cause aseries of operational steps to be performed on the computer or otherprogrammable apparatus to produce a computer-implemented process, suchthat the instructions that execute on the computer or other programmableapparatus provide steps for implementing the functions specified.

The foregoing specification has been described with reference to variousembodiments. However, one of ordinary skill in the art will appreciatethat various modifications and changes can be made without departingfrom the scope of the present disclosure. Accordingly, this disclosureis to be regarded in an illustrative rather than a restrictive sense,and all such modifications are intended to be included within the scopethereof. Likewise, benefits, other advantages, and solutions to problemshave been described above with regard to various embodiments. However,benefits, advantages, solutions to problems, and any element(s) that maycause any benefit, advantage, or solution to occur or become morepronounced are not to be construed as a critical, a required, or anessential feature or element. As used herein, the terms “comprises,”“comprising,” and any other variation thereof are intended to cover anon-exclusive inclusion, such that a process, a method, an article, oran apparatus that comprises a list of elements does not include onlythose elements but may include other elements not expressly listed orinherent to such process, method, system, article, or apparatus.

In an embodiment, the system is integrated in such a manner that thesystem operates as a unique system configured specifically for functionof one or more of the systems described herein (e.g., system 100, system1100, etc.) used to provide power transfer between modular intraluminaldevices, and any associated computing devices of the system operate asspecific use computers for purposes of the claimed system, and notgeneral use computers. In an embodiment, at least one associatedcomputing device of the system operates as a specific use computer forpurposes of the claimed system, and not a general use computer. In anembodiment, at least one of the associated computing devices of thesystem is hardwired with a specific ROM to instruct the at least onecomputing device. In an embodiment, one of skill in the art recognizesthat the systems described herein (e.g., system 100, system 1100, etc.)and associated systems/devices effect an improvement at least in thetechnological field of intraluminal device power transfer.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

1. An intraluminal traveling system, comprising: a first intraluminaldevice, the first intraluminal device including a body structuredimensioned and structured to travel through a biological lumen of asubject; a sensor coupled to the body structure, the sensor oriented todetect at least one characteristic of the biological lumen and togenerate one or more sense signals; a processor operably coupled to thesensor, the processor configured to receive the one or more sensesignals; a data transmitter coupled to the body structure and configuredto wirelessly transmit one or more data signals associated with the oneor more sense signals responsive to instruction by the processor; and awireless energy receiver coupled to the body structure and oriented towirelessly receive energy originating external to the first intraluminaldevice to power at least one of the sensor, the processor, or the datatransmitter; and a second intraluminal device, the second intraluminaldevice including a second body structure dimensioned and structured totravel through the biological lumen of the subject; and an energystorage device coupled to the second body structure, the energy storagedevice configured to wirelessly transfer energy stored in the energystorage device to the wireless energy receiver of the first intraluminaldevice when the first intraluminal device and the second intraluminaldevice are positioned within the subject.
 2. The intraluminal travelingsystem of claim 1, wherein at least one of the first intraluminal deviceor the second intraluminal device further includes a motive structure.3. The intraluminal traveling system of claim 2, wherein the motivestructure includes at least one of an oscillatory motive mechanism, avibratory motive mechanism, an actuator-driven bending mechanism, aunimorph actuator, a bimorph actuator, a pneumatic bellow, alumen-surface-engaging structure, an impelling device, or a jointedappendage.
 4. The intraluminal traveling system of claim 1, wherein atleast one of the first intraluminal device or the second intraluminaldevice further includes a motion-resistive mechanism.
 5. Theintraluminal traveling system of claim 4, wherein the motion-resistivemechanism includes a wall-engaging structure capable of engaging a wallof the biological lumen to secure at least one of the first intraluminaldevice or the second intraluminal device with respect to the wall of thebiological lumen.
 6. The intraluminal traveling system of claim 4,wherein the processor is configured to direct the motion-resistivemechanism proximate a wall of the biological lumen to secure the firstintraluminal device with respect to the wall of the biological lumen. 7.The intraluminal traveling system of claim 4, wherein the processor isconfigured to direct the motion-resistive mechanism proximate a wall ofthe biological lumen to secure the first intraluminal device withrespect to the wall of the biological lumen until the secondintraluminal device is within a threshold proximity of the firstintraluminal device.
 8. (canceled)
 9. The intraluminal traveling systemof claim 4, wherein the processor is configured to direct themotion-resistive mechanism proximate a wall of the biological lumen tosecure the first intraluminal device with respect to the wall of thebiological lumen when a power level of the first intraluminal device isbelow a threshold power value.
 10. (canceled)
 11. The intraluminaltraveling system of claim 1, wherein the second intraluminal deviceincludes a power transmitter coupled to the energy storage device, thepower transmitter configured to transfer energy stored in the energystorage device to the wireless energy receiver of the first intraluminaldevice. 12.-17. (canceled)
 18. The intraluminal traveling system ofclaim 11, wherein at least one of the first intraluminal device or thesecond intraluminal device includes at least one sensor configured todetect the other of the first intraluminal device or the secondintraluminal device.
 19. (canceled)
 20. The intraluminal travelingsystem of claim 18, wherein the second intraluminal device includescircuitry that causes the power transmitter to transfer energy stored inthe energy storage device to the wireless energy receiver of the firstintraluminal device responsive to reaching a threshold distance betweenthe first intraluminal device and the second intraluminal device. 21.The intraluminal traveling system of claim 18, wherein the secondintraluminal device includes circuitry that causes the power transmitterto transfer energy stored in the energy storage device to the wirelessenergy receiver of the first intraluminal device responsive to anorientation of the first intraluminal device relative to the secondintraluminal device.
 22. (canceled)
 23. The intraluminal travelingsystem of claim 11, wherein the second intraluminal device includescircuitry that causes the power transmitter to transfer energy stored inthe energy storage device to the wireless energy receiver of the firstintraluminal device responsive to an energy transfer efficiency betweenthe energy storage device and the wireless energy receiver being above athreshold efficiency.
 24. (canceled)
 25. The intraluminal travelingsystem of claim 1, further including: a location determination device,the location determination device configured to determine at least oneof an absolute location or a relative location of at least one of thefirst intraluminal device or the second intraluminal device. 26.-33.(canceled)
 34. The intraluminal traveling system of claim of claim 25,wherein the processor is configured to control an angular sensitivity ofat least one of the wireless energy receiver or the energy storagedevice based on the at least one of the absolute location or therelative location.
 35. (canceled)
 36. (canceled)
 37. The intraluminaltraveling system of claim 1, wherein at least one of the firstintraluminal device or the second intraluminal device includes anactuator configured to initiate transfer of energy from the energystorage device to the wireless energy receiver.
 38. The intraluminaltraveling system of claim 37, wherein the actuator includes at least oneof a mechanical actuator, a fluid-driven actuator, a chemical actuator,an electromechanical actuator, a magnetic actuator, or anelectromagnetic actuator.
 39. The intraluminal traveling system of claim37, wherein the processor includes or is operably coupled to a controlcircuit coupled to the actuator, the control circuit driving theactuator in response to at least one of: a timer output, a sensoroutput, or a communication received from a source external to thebiological lumen of the subject. 40.-73. (canceled)
 74. The intraluminaltraveling system of claim 11, wherein the power transmitter includes atleast one of an electromagnetic power transmitter having anelectromagnetic coupling between the energy storage device and thewireless energy receiver, a microwave power transmitter having amicrowave coupling between the energy storage device and the wirelessenergy receiver, an infrared power transmitter having an infraredcoupling between the energy storage device and the wireless energyreceiver, an optical power transmitter having an optical couplingbetween the energy storage device and the wireless energy receiver, oran acoustic power transmitter having at least one of an acousticcoupling between the energy storage device and the wireless energyreceiver or an ultrasonic coupling between the energy storage device andthe wireless energy receiver.
 75. The intraluminal traveling system ofclaim of claim 25, wherein the location determination device includes atleast one of a physical sensor, a chemical sensing device, an opticalsensor, a radio frequency device, an acoustic device, a localizationbeacon, or a magnetic tracking system.